KR101791363B1 - Hybrid-type construction machine - Google Patents

Abstract

Provided is a hybrid type construction machine having a hydraulic power transmission compound turn type swing device. The hybrid type construction machine drives a swing structure solely by an electric motor in a work requiring accurate turning operability such as a crane operation. An electric power steering apparatus comprising: an engine; a hydraulic pump driven by the engine; a swing body; an electric motor for driving the swing body; a hydraulic motor for driving the swing body driven by the hydraulic pump; A hybrid type construction machine for pivoting a combined drive of a motor and a hydraulic motor, the hybrid type construction machine comprising: a work mode switching unit that is switched by an operator depending on a type of work; and a motor-only swing control unit that swings the swing body by the electric motor alone And a control device for turning the rotating body by the electric power single-swing control section when the work requiring the positioning accuracy is selected by the work mode switching section.

Description

Hybrid type construction machine {HYBRID-TYPE CONSTRUCTION MACHINE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid type construction machine, and more particularly, to a hybrid type construction machine having a revolving hydraulic motor and a revolving electric motor as means for driving a revolving body.

In a hybrid type construction machine having both a hydraulic motor and an electric motor for driving a swivel body, even when a situation in which torque of the electric motor can not be generated for some reason occurs, (Hydraulic hybrid traveling mode) in which the vehicle is swiveled by both the torque of the electric motor and the electric motor, and a mode in which the hydraulic motor is swiveled independently (in the hydraulic single swing mode) See Document 1).

Japanese Patent Application Laid-Open No. 2011-241653

Incidentally, in the general operation (for example, excavation, revolving loading, etc.) of the construction machine, the driving control of the revolving body is required to realize the large working amount by the high revolving force, but the control of the revolving speed of the revolving body A high accuracy is required for the control of the turning stop position.

On the other hand, in a special operation of the construction machine, for example, in a crane operation, a change in the unintentional turning speed of the operator causes rocking of the suspension load and is connected to a serious disaster such as dropping of the load. Control is required. Further, when the load is suspended or unloaded, high-precision control of the stop position is required in order to stop the hook of the crane at the correct position.

In another work, for example, in an operation of handling a fine object by using an attachment such as an automobile dismantling, precise position control is required. In the case of performing such an operation, in the hydraulic power transmission compound swing system that drives both the electric motor and the hydraulic motor, or in the hydraulic single swing system that independently drives the hydraulic motor, the hydraulic motor can not perform correct swing acceleration / deceleration.

This is because it is difficult to control the pressure applied to the swing port to be constant while the swing torque of the hydraulic motor for determining the swing acceleration is determined by the differential pressure of the inlet / outlet port of the hydraulic motor. Various factors such as the opening of the directional control valve, the characteristics of the relief valve, unintended pressure effects such as piping pressure loss, and the like are complicatedly influenced by the pressure applied to the swing port.

On the other hand, the torque / speed control of the electric motor can be realized relatively easily by controlling the current value and the frequency of the applied voltage. However, in the hydraulic power transmission compound turning system, a part of the turning torque is taken up by the hydraulic motor, so that the same control difficulty as in the hydraulic single swinging system is generated.

An object of the present invention is to provide a hybrid type construction machine having a hydraulic power transmission compound turn type swing device, , And a hybrid type construction machine for driving a rotating body by an electric motor alone.

According to a first aspect of the present invention, there is provided an electric motor comprising an engine, a hydraulic pump driven by the engine, a revolving body, an electric motor for driving the revolving body, A hybrid type construction machine for driving an electric motor and a hydraulic motor in combination, comprising: a hydraulic motor for driving; and a hybrid type construction machine for pivoting the electric motor in combination with the hydraulic motor, the hybrid type construction machine comprising: And a control unit for turning the turning body by the electric single-turn turning control unit when the work requiring the positioning accuracy is selected by the work mode switching unit .

In a second aspect of the present invention according to the first aspect of the present invention, the control device includes a control device that, when the crane mode is selected by the operation mode switching section, causes the electric single-turn- .

A third invention is characterized in that, in the first invention, the control device can set whether or not the electric single-turn-turning control section is used for each operation mode.

A fourth aspect of the present invention is the hydraulic control apparatus according to the first aspect of the present invention, wherein the maximum output of the electric motor is smaller than the maximum output of the hydraulic motor, and the control apparatus further comprises: And when the work requiring the positioning accuracy is selected, the turning unit is turned by the electric single-turn turning control unit.

A fifth aspect of the present invention is characterized in that, in any one of the first to fourth aspects of the invention, there is provided a turning operation lever device for instructing driving of the above-mentioned turning body and an operation amount detecting section for detecting an operation amount of the above- , The electric power single-swing control section of the control device introduces an operation amount of the swing operation lever device detected by the operation amount detection section, and when the swing operation amount is in the minute area, when the combined operation of the electric motor and the hydraulic motor And the output of the electric motor is controlled to be a target value that does not exceed the limit output of the electric motor when the manipulated variable is the maximum value.

According to the present invention, when the work mode requiring correct turning operability is selected, the electric single-turn turning operation for driving the turning body by the electric motor alone is performed. As a result, high turning workability can be realized, and the versatility of the hybrid type construction machine is improved.

1 is a side view showing a first embodiment of a hybrid type construction machine of the present invention.
2 is a system configuration diagram of an electric / hydraulic device constituting the first embodiment of the hybrid type construction machine of the present invention.
3 is a system configuration and a control block diagram of the first embodiment of the hybrid type construction machine of the present invention.
4 is a system configuration diagram showing a hydraulic system according to a first embodiment of the hybrid type construction machine of the present invention.
5 is a side view showing a second embodiment of the hybrid type construction machine of the present invention.
6 is a system configuration and a control block diagram of a second embodiment of the hybrid type construction machine of the present invention.
7 is a system configuration and a control block diagram of a third embodiment of the hybrid type construction machine of the present invention.
8 is a conceptual diagram showing an example of the operation mode setting of the display device constituting the third embodiment of the hybrid type construction machine of the present invention.
9 is a characteristic diagram showing output characteristics of an electric motor and a hydraulic motor in a hydraulic power transmission compound turning mode in a fourth embodiment of the hybrid type construction machine of the present invention.
10 is a characteristic diagram showing output characteristics of an electric motor and a hydraulic motor in the electric single-turn mode in the fourth embodiment of the hybrid type construction machine of the present invention.

Hereinafter, an embodiment of the present invention will be described by using the drawings as an example of a hydraulic excavator. Further, the present invention can be applied to all kinds of work and construction machines having a swivel, and the application of the present invention is not limited to a hydraulic excavator.

Example 1

Fig. 1 is a side view showing a first embodiment of the hybrid type construction machine of the present invention. Fig. 2 is a system block diagram of an electric / hydraulic machine constituting a first embodiment of the hybrid type construction machine of the present invention. 1 is a system configuration and a control block diagram of a first embodiment of a hybrid type construction machine according to the present invention.

1, the hydraulic excavator is provided with a traveling body 10, a swivel body 20 pivotally mounted on the traveling body 10, and a front working device 30 laid on the swivel body 20 have.

The traveling body 10 is provided with a pair of crawler 11 and a pair of traveling hydraulic motors 13 for independently controlling driving of each of the crawler 11 and the crawler frame 12 And 14, and a reduction mechanism thereof.

The revolving structure 20 includes a revolving frame 21, an engine 22 as a prime mover provided on the revolving frame 21, an assist generation motor 23 driven by the engine, a revolving electric motor 25, An electric double phase capacitor 24 connected to the assist power generation motor 23 and the swing electric motor 25 and the rotation of the swing electric motor 25 and the swing hydraulic motor 27 are decelerated And the driving force of the swing electric motor 25 and the swing hydraulic motor 27 is transmitted through the decelerating mechanism 26. The driving force is transmitted to the traveling body 10 by the driving force, The turning frame 20 (orbiting frame 21) is driven to rotate.

In addition, the front work device 30 is mounted on the swivel body 20. As shown in Fig. The front working device 30 includes a boom 31, a boom cylinder 32 for driving the boom 31, an arm 33 rotatably supported in the vicinity of the front end of the boom 31, A bucket 35 rotatably supported at the front end of the arm 33 and a bucket cylinder 36 for driving the bucket 35 and the like have.

The traveling hydraulic motors 13 and 14, the swing hydraulic motor 27, the boom cylinder 32, the arm cylinder 34, the bucket cylinder 36, and the like are disposed on the revolving frame 21 of the revolving body 20, And a hydraulic system 40 for driving the hydraulic actuators. 2) for rotatingly driven by the engine 22 and a control valve 42 (see FIG. 2) for driving and controlling the actuators. The hydraulic pump 40 is a hydraulic pressure source, .

Next, the system configuration of the hydraulic / hydraulic apparatus of the hydraulic excavator will be briefly described. As shown in FIG. 2, the driving force of the engine 22 is transmitted to the hydraulic pump 41. The control valve 42 controls the operation of the boom cylinder 32, the arm cylinder 34, the bucket cylinder 36 and the traveling hydraulic motors 13, 14 in accordance with an operation command from an operation lever And controls the flow rate and discharge direction. The control valve 42 controls the discharge flow rate and the discharge direction of the operating oil to the swivel hydraulic motor 27 in accordance with the swivel operation command from the swivel operation lever 72 (see Fig. 3).

The electric power system is composed of the above-described assist power generation motor 23, the capacitor 24, the turning electric motor 25, the power control unit 55, and the like. The power control unit 55 has a chopper 51, inverters 52 and 53, a smoothing capacitor 54, and the like.

DC power from the capacitor 24 is boosted to a predetermined bus voltage by the chopper 51 and is supplied to an inverter 52 for driving the swinging electric motor 25 and an inverter 52 for driving the assist electric power generating motor 23 53). The smoothing capacitor 54 is provided to stabilize the bus line voltage. The rotary electric motor 25 and the rotary shaft of the rotary hydraulic motor 27 are coupled to each other to drive the rotary body 20 through the deceleration mechanism 26. [ The capacitor 24 is charged and discharged by the driving state of the assist power generation motor 23 and the swinging electric motor 25 (whether the power is reversed or regenerated).

2, such as an operation lever signal, a pressure signal, a rotation speed signal, etc., and a work mode signal from a work mode changeover switch 77 provided in the cabin, , The power control unit 55 is instructed to perform the turning control. Reference numeral 75 denotes a device for converting an electric signal from the controller 80 into a hydraulic pilot signal and corresponds to, for example, an electronic proportional valve.

The system configuration and control block diagram of the hydraulic excavator are shown in Fig. The system configuration of the electric / hydraulic device shown in Fig. 3 is basically the same as that of Fig. 2, but shows in detail the device, control unit, control signal, and the like necessary for performing the swing control according to the present invention.

The hydraulic excavator includes the above-described controller 80, hydraulic / electric converters 74a, 74b, 74c and 74d relating to the input and output of the controller 80, electric / hydraulic converters 75a and 75b, , 95b, 96a, 96b, and a work mode changeover switch 77, which constitute a turning control system.

The controller 80 is provided with a hydraulic power transmission compound turning control block 83, an electric single-turn control block 84, a control switching block 85, and the like.

When an operation other than a job requiring correct turning operability is selected in the operation mode changeover switch 77, the controller 80 determines that the control switching block 85 has selected the hydraulic drive compound turning control block 83 , And the hydraulic actuator complex turn control block 83 controls the swing actuator operation. The hydraulic pilot signal generated by the input of the swing operation lever 72 is converted into an electric signal by the hydraulic / electric conversion devices 74c and 74d, and is converted into an electric signal by the hydraulic power transmission compound turning control block 83 and the electric single- 84). The operating pressure of the swing hydraulic motor 25 is converted into an electric signal by the hydraulic / electric converters 74a and 74b, and is inputted to the hydraulic / The turning motor speed signal outputted from the inverter for driving the electric motor in the power control unit 55 is also inputted to the hydraulic /

The hydraulic power transmission compound turning control block 83 performs a predetermined calculation based on the hydraulic pilot signal from the swing operation lever 72, the operation pressure signal of the swing hydraulic motor 25, and the swing motor speed signal, (25) and outputs a turning electric motor torque command to the power control unit (55). At the same time, a reduction torque command for reducing the output torque of the swing hydraulic motor 27 is output to the electric / hydraulic converter 75b by outputting a pump absorption torque correction command to the hydraulic pump 41 to the electric / hydraulic converter 75a, .

The hydraulic pilot signal generated by the input of the swing operation lever 72 is also input to the control valve 42 through the swing pilot pressure cut solenoid valve 96 to be described later, (See Fig. 4) is switched from the neutral position, the discharge oil of the hydraulic pump 41 is supplied to the revolving hydraulic motor 27, and the revolving hydraulic motor 27 is also driven at the same time.

Next, when a work requiring correct turning operability is selected in the work mode changeover switch 77, the controller 80 determines that the control switching block 85 selects the electric single-turn-turning control block 84, The swing actuator operation is controlled by the electric single-swing control block 84. [

The electric single solenoid control block 84 calculates a command torque of the swing electric motor 25 by performing a predetermined calculation based on the hydraulic pilot signal from the swing control lever 72 and the swing motor speed signal, And outputs a turning electric motor torque command to the unit 55. [ At the same time, a revolving relief pressure reducing command for minimizing the relief pressure of the overload relief valves 93a and 93b, which will be described later, is applied to the relief solenoid valves 95a and 95b . In order to prevent the hydraulic pilot signal generated by the swing operation lever 72 from reaching the operating portion of the spool 92 for the swing motor of the control valve 42 described later, (96a, 96b). As a result, electric power single-swing control is realized in which accurate turning operability is realized.

In the control switching block 85, the relationship between the inputted work mode switching signal and the electric power single-swing control or hydraulic-hydraulic hybrid control is set in advance. As a result, when the operation mode signal is input, the motor-driven single-swing control or the hydraulic-hydraulic hybrid control is automatically switched.

Next, a pivot hydraulic system according to a first embodiment of the hybrid type construction machine of the present invention will be described using Fig. 4 is a system configuration diagram showing a hydraulic system according to a first embodiment of the hybrid type construction machine of the present invention. In Fig. 4, the same reference numerals as those in Figs. 1 to 3 denote the same parts, and a detailed description thereof will be omitted.

The control valve 42 shown in Fig. 3 is provided with a valve part called a spool for each actuator. The corresponding spool is displaced in accordance with a command (hydraulic pilot signal) from a turning operation lever 72 or other unillustrated operating device The area changes, and the flow rate of the pressure oil passing through each flow path changes. The swivel hydraulic system shown in Fig. 4 includes only a swiveling spool.

4, the swing hydraulic system includes the hydraulic pump 41 and the swing hydraulic motor 27, the swing operation lever 72, the swing spool 92, the variable overload relief valve for swing Relief valves 95a and 95b for changing the relief pressure of the variable overload relief valves and relief valves 95a and 95b for turning the revolving spool 92, 96b for turning pilot pressure cutting to reduce the pilot pressure to the operating portion when necessary, and a tank 130. [

The tilting angle of the hydraulic pump 41 is changed by operating the regulator so that the capacity of the hydraulic pump 41 is changed and the capacity of the hydraulic pump 41 Flow rate and output torque change. When the pump absorption torque correction command is output from the hydraulic / hydraulic hybrid control block 83 in Fig. 3 to the electric / hydraulic conversion device 75a, the electric / hydraulic conversion device 75a outputs a corresponding control pressure to the regulator, The setting of the regulator is changed so that the maximum output torque of the hydraulic pump 41 is reduced.

The swing spool 92 has three positions A, B, and C, receives the swing operation command (hydraulic pilot signal) from the swing operation lever 72, and is continuously switched from the neutral position B to the A position or the C position .

The pivoting operation lever 72 incorporates a pressure reducing valve that reduces the pressure from the pilot hydraulic pressure reduction connected in accordance with the lever operation amount. (Hydraulic pilot signal) in accordance with the amount of lever manipulation is applied to either the left or right operating portion of the orbiting spool 92 via the conduit 131A or 131B and the solenoid valves 96a and 96b for turning pilot pressure cutting.

Pressure sensors 74c and 74d for detecting the pressure in the conduit are provided in the conduits 131A and 131B, respectively. The pipelines 131A and 131B are provided with swing pilot pressure cutting solenoid valves 96a and 96b for controlling the communication / cutoff of the pilot oil in each pipeline.

The electromagnetic valves 96a and 96b for turning pilot pressure cutting are electromagnetically operated three-port, two-position type switching valves. The switching valves for switching between the operating portion of the turning spool 92 and the pressure- As shown in FIG. The swing pilot pressure cut solenoid valves 96a and 96b are positioned such that the operating portion of the swing spool 92 and the pressure reducing valve of the swing operation lever 72 communicate with each other by the spring member in the non-excitation state. The solenoid valves 96a and 96b for turning pilot pressure cutting are provided with an electromagnetic driver on one side and an output cable from the controller.

When the swivel spool 92 is in the neutral position B, the pressure oil discharged from the hydraulic pump 41 passes through the bleed-off throttle and is returned to the tank 130. When the turning spool 92 receives the pressure (hydraulic pilot signal) corresponding to the lever operation amount and is switched to the A position, the pressure oil from the hydraulic pump 41 passes through the throttle, which is a meter at the A position, The return oil from the swing hydraulic motor 27 is returned to the tank 130 through the meter out throttle at the A position and the swing hydraulic motor 27 rotates in one direction. On the contrary, when the orbiting spool 92 receives the pressure (hydraulic pilot signal) according to the lever operation amount and is switched to the C position, the pressure oil from the hydraulic pump 41 passes through the throttle, which is a meter at the position C, The return oil from the swing hydraulic motor 27 is returned to the tank 130 through the meter out throttle at the position C and the swing hydraulic motor 27 is rotated in the reverse direction to the case of the A position Rotate.

When the swiveling spool 92 is positioned between the B position and the A position, the pressure oil from the hydraulic pump 41 is distributed to the bleed-off throttle and the throttle which is the meter. At this time, a pressure in accordance with the opening area of the bleed-off throttle is generated at the inlet side of the throttle, which is a meter, and pressure oil is supplied to the swing hydraulic motor 27 with the pressure, . Further, the discharge oil from the swing hydraulic motor 27 receives a resistance in accordance with the opening area of the meter-out throttle at that time, and a back pressure is generated, and a braking torque corresponding to the opening area of the meter-out throttle is generated. The same applies to the intermediate position between the B position and the C position.

When the turning operation lever 72 is returned to the neutral position and the turning spool 92 is returned to the neutral position B, since the turning body 20 is an inertial body, the turning hydraulic motor 27 is rotated I want to continue. At this time, when the pressure (back pressure) of the discharge oil from the swing hydraulic motor 27 exceeds the set pressure of the variable overload relief valve 93a or 93b for swing, the swing variable overload relief valve 93a 93b operate to relieve a part of the pressure oil to the tank 130 to restrict the rise of the back pressure and to generate the braking torque in accordance with the set pressure of the variable overload relief valve 93a or 93b for swing.

The check valves 94a and 94b for preventing the discharge oil from the circulating hydraulic motor 27 from flowing back to the other system during the operation of the variable overload relief valve 93a or 93b for swing are connected to the tank 130 93b for swinging so as to open only to the side of the swing hydraulic motor 27 from the swing hydraulic motor 27 side.

The variable overload relief valves 93a and 93b for swing have pilot pressure receiving portions, respectively. The pilot hydraulic pressure section is supplied with the pilot oil from the pilot hydraulic pressure source through the relief solenoid valves 95a and 95b. The set pressure of the variable overload relief valves 93a and 93b for swinging can be varied by the pressure of the pilot oil supplied to each pressure receiving portion.

The relief solenoid valves 95a and 95b are electromagnetically operated three-port two-position type change-over valves. The relief solenoid valves 95a and 95b are communicating / disengaging the respective hydraulic pressure receiving portions of the pilot hydraulic pressure source and the variable overload relief valves 93a and 93b for turning And to selectively control it. The relief solenoid valves 95a and 95b are positioned such that the respective hydraulic pressure sources of the pilot hydraulic pressure source and the variable overload relief valves for pivoting are brought into a communicated state by the spring member at the time of non-excitation. In the relief solenoid valves 95a and 95b, an electromagnetic driver is disposed on one side, and an output cable from the controller is connected.

Next, the operation of the embodiment of the present invention will be described with reference to Figs. 3 and 4. Fig.

In the work mode changeover switch 77, when the work other than the work requiring accurate turning operability is selected, the controller 80 selects the hydraulic drive complex turn control block 83 by the control changeover block 85. The turning relief pressure reducing command and the turning pilot pressure cutting command are not outputted from the electric power single sole turning control block 84 shown in Fig. Thus, in Fig. 4, the relief solenoid valves 93a and 93b and the swing pilot solenoid valves 96a and 96b are non-excited.

Since these solenoid valves are non-excited, pilot oil is supplied from the pilot oil pressure source to the pressure receiving portions of the variable overload relief valves 93a and 93b for swing, and the set pressure of these relief valves becomes a predetermined value. The operating portion of the swivel spool 92 and the pressure reducing valve of the swiveling operation lever 72 are brought into a communicating state and the pilot oil according to the operation amount of the swiveling operation lever 72 is supplied to the operating portion of the swiveling spool 92 It becomes possible.

When the turning operation lever 72 is operated, the pressurized oil is supplied to either one of the left and right operating portions of the orbiting spool 72 via the pilot hydraulic circuits 131A and 131B, drives the spool, And the main hydraulic circuit between the revolving hydraulic motor (27). As a result, the swivel hydraulic motor 27 rotates to drive the swivel body 20.

Next, when a work requiring correct turning operability is selected in the work mode change-over switch 77, the controller 80 selects the electric power single-turn control block 84 by the control changeover block 85. The swing actuator operation is controlled by the electric single-swing control block 84. [ At this time, a turning relief pressure reducing command and a turning pilot pressure cutting command are outputted from the electric power single sole turning control block 84 shown in Fig. Thus, in Fig. 4, the relief solenoid valves 93a and 93b and the swing pilot solenoid valves 96a and 96b are excited.

Since these solenoid valves are exciters, the pilot oil that has been supplied to the respective pressure receiving portions of the variable overload relief valves 93a and 93b for swing is discharged to the tank 130. [ As a result, the set pressure of these relief valves becomes the minimum value. As a result, the brake pressure of the swing hydraulic motor 27 is reduced, and the influence of the swing hydraulic motor 27 on the swing operation can be reduced. The operating portion of the swing spool 92 and the pressure reducing valve of the swing operation lever 72 are in a disconnected state and the pilot oil corresponding to the operation amount of the swing operation lever 72 is not supplied to the operating portion of the swing spool 92 . As a result, the influence of the turning hydraulic motor 27 on the turning operation can be reduced. As a result, electric power single-swing control is realized in which accurate turning operability is realized.

As described above, in the present embodiment, the swing drive system can be switched from the hydraulic power hybrid system to the electric power single swing system only by selecting the operation mode. When the operator selects the operation mode, the operator can work with optimum turning operability for the work without being aware of the swiveling drive system. However, it is necessary to determine in advance which operation mode is to be switched to the electric single-turn turn at the design stage of the controller. An example of such a special working mode will be described below.

In the case of assembling a construction material using a construction machine, for example, a work mode called " handling mode " is set. The construction machine is equipped with attachments that can grasp the construction materials targeted at grapples, etc., and assembling is carried out while holding the construction materials in proper positions. When such an operation is performed, precise positioning accuracy is required, such as aligning the bolt holes, and therefore, it is preferable to use an electric single swivel system with excellent control accuracy. In this operation, since the operator selects the " handling mode ", the system is switched to the electric single-swivel system, and therefore, accurate operation can be realized only by changing the operation mode.

In the case of performing finishing work for a ground leveling work using a construction machine, for example, a work mode called " fine mode " is set. In the stop finishing operation, there is an operation of pulling the end of the bucket hooks horizontally and leveling the ground. At this time, the horizontal inclined pulling operation of pulling the end of the bucket hook at an angle while performing the swinging operation is frequently performed. In the case of performing such an operation, switching to the electric single swing system does not depend on the movement of actuators having different turning speeds, so that work filling in the fine operation area is greatly improved. This can also be applied to other finishing operations such as a surface finishing. In this operation, since the operator selects the "fine mode", the system is switched to the electric single-turn system, so that the filling of the turning fine operation can be improved only by changing the operation mode.

According to the above-described first embodiment of the hybrid type construction machine of the present invention, when the work mode requiring accurate turning operability is selected, the motor-only turning is performed to drive the turning body 20 by the turning electric motor alone. As a result, high turning workability can be realized, so that the versatility of the hybrid type construction machine is improved.

Example 2

Hereinafter, a second embodiment of the hybrid type construction machine of the present invention will be described with reference to the drawings. Fig. 5 is a side view showing a second embodiment of the hybrid type construction machine of the present invention, and Fig. 6 is a system configuration and a control block diagram of a second embodiment of the hybrid type construction machine of the present invention. In Figs. 5 and 6, the same reference numerals as in Figs. 1 to 4 denote the same parts, and a detailed description thereof will be omitted.

A second embodiment of the hybrid type construction machine of the present invention will be described with respect to a hybrid type construction machine having a crane mode.

The hybrid type construction machine having the crane mode shown in Fig. 5 has, in addition to the structure of the hydraulic excavator of the first embodiment, a hook 100 for suspending a load and a hook 100 for suspending the load on the upper surface of the rear portion of the outer cover of the revolving body 20 An arm angle sensor 103 provided at the front end of the boom 31 and a boom angle sensor 104 installed at the base end of the boom . In addition, the hydraulic system is provided with a boom cylinder boom pressure sensor (not shown). The hook 100 is provided between the tip of the arm 32 and the base of the bucket 35.

When the crane mode is set, the crane mode external indicator 101 is turned on and warns around. Further, the weight of the suspension load is estimated by the boom cylinder pressure sensor, and the posture of the vehicle body is detected by the level sensor 102, the boom angle sensor 104 and the arm angle sensor 103, thereby detecting the risk of vehicle body conduction. The suspension load is carried out using the hook 100. If the bucket moves, there is a possibility that the bucket is brought into contact with the suspension bag or the water dispenser. Therefore, the bucket position is fixed by a bucket lock solenoid valve not shown.

Next, the configuration of the control system in this embodiment is shown in Fig. 6, a crane changeover switch 110 is provided in place of the work mode changeover switch 77 in the first embodiment, and the controller 80 is provided with a crane mode control section 111. As shown in Fig.

Next, the operation of the embodiment of the present invention will be described.

In the crane changeover switch 110, when the crane operation is not selected, the controller 80 selects the hydraulic-drive compound-turning control block 83 by the control switching block 85. The turning relief pressure reducing command and the turning pilot pressure cutting command are not outputted from the electric power single sole turning control block 84 shown in Fig. 4, the relief solenoid valves 93a and 93b and the swing pilot pressure cut solenoid valves 96a and 96b are de-energized and the operation mode changeover switch 77 of the first embodiment is switched to the non- The same operation as that in the case where an operation other than the operation requiring correct turning operability is selected.

In the crane changeover switch 110, when the crane operation is selected, the crane mode control section 111 in the controller 80 first switches to the crane mode. More specifically, a lighting command to the crane mode external display lamp 101 is outputted, and control necessary for crane operation such as other anti-collision warning is performed.

On the other hand, the controller 80 causes the control switching block 85 to select the electric power single-swing control block 84. [ The swing actuator operation is controlled by the electric single-swing control block 84. [ At this time, a turning relief pressure reducing command and a turning pilot pressure cutting command are outputted from the electric power single sole turning control block 84 shown in Fig. 4, the relief solenoid valves 93a and 93b and the swing pilot pressure cut solenoid valves 96a and 96b are turned to be excited, and the operation mode changeover switch 77 of the first embodiment Thus, the operation is the same as that in the case where a job requiring accurate turning operability is selected.

According to the second embodiment of the hybrid type construction machine of the present invention described above, the same effects as those of the first embodiment described above can be obtained.

According to the second embodiment of the hybrid type construction machine of the present invention described above, in the hybrid type construction machine having a crane mode, in the crane mode, the turning body 20 is automatically driven by the turning electric motor alone A single power turn is performed. Since crane operation requires precise turning operation, it is suitable to perform power-driven single-turn control with good controllability of the turning position and the turning speed. When the operator sets the operation mode as the crane operation, the control necessary for the crane operation is executed and the automatic turning mode is automatically switched to the crane mode. As a result, high turning workability is realized and productivity is improved.

Example 3

Hereinafter, a third embodiment of the hybrid type construction machine of the present invention will be described with reference to the drawings. Fig. 7 is a system configuration and control block diagram of a third embodiment of the hybrid type construction machine of the present invention. Fig. 8 is a flowchart showing an example of the operation mode setting of the display device constituting the third embodiment of the hybrid type construction machine of the present invention FIG. In Figs. 7 and 8, the same reference numerals as in Figs. 1 to 6 denote the same parts, and a detailed description thereof will be omitted.

The third embodiment of the hybrid type construction machine of the present invention shown in Fig. 7 is constituted by a device similar to that of the first embodiment, but the following structure is different.

In the first embodiment, the operation mode changeover switch 77 is provided in the cab, but in this embodiment, the display device 120 capable of inputting and outputting information is provided in place of the operation mode changeover switch 77 different. The operator can automatically realize the swivel drive system suitable for the selected work mode by selecting the work mode on the display device 120. [

Further, in the present embodiment, it is possible to set whether or not to switch from the respective operation modes to the electric single-turn operation on the display device 120 in the cab. 8 shows a menu configuration of the display apparatus 120. [

In the section of the " work mode " of the main menu of Fig. 8, for example, a work mode such as " digging " At this time, if "work mode setting" is selected at the same time, it is possible to change the setting of whether or not there is a preset power turn in each work mode. For example, when "work mode setting" → "excavation" → "electric single swivel N" is selected, when the excavation work mode is selected, the power single swiveling is not executed.

Here, when the setting of the display device 120 is changed, various constants of the control switching block 85 of the controller 80 are rewritten, thereby switching between the electric single-turn turning and the hydraulic-hydraulic combined turning. The operator himself or a service source such as a manufacturer can change the setting of whether or not to turn the motor only in the target working mode.

In the first and second embodiments described above, there is a risk that the turning operation can not be performed when the turning electric motor 25 can not be driven for any reason, such as failure of the electric power system. Also, when the operation mode is switched, the turning drive mode is automatically switched. Therefore, even when the operator does not want the operability of the electric single turn, there is a possibility that the electric single turn must be performed depending on the operation mode. According to the present embodiment, even in such a case, it is possible to change the setting of whether or not to perform the electric single swivel, thereby solving these problems.

According to the third embodiment of the hybrid type construction machine of the present invention described above, the same effects as those of the first embodiment described above can be obtained.

According to the third embodiment of the hybrid type construction machine of the present invention described above, it is possible to change the setting as to whether or not to perform the electric single-handed turning, so that it corresponds to the preset work mode in the case of the electric single- Even when the motor 25 can not be driven or when the operator does not want the operability of the electric single swing, the setting of the power single swing can be changed and the operation can be performed. As a result, workability is improved.

Example 4

Hereinafter, a fourth embodiment of the hybrid type construction machine of the present invention will be described with reference to the drawings. Fig. 9 is a characteristic diagram showing output characteristics of an electric motor and a hydraulic motor in the hydraulic power transmission compound turning mode in the fourth embodiment of the hybrid type construction machine of the present invention. Fig. 4 is a characteristic diagram showing output characteristics of an electric motor and a hydraulic motor in an electric single-swing mode in an embodiment.

The fourth embodiment of the hybrid type construction machine of the present invention is constituted by a device similar to that of the first embodiment but differs in that it is characterized by the output characteristics of the swinging electric motor in the electric single swing mode.

In the present embodiment, the turning output is held within a predetermined value in the working mode for switching to the electric single-turn rotation, thereby enabling the adoption of the small-output turning electric motor. Fig. 9 shows the characteristics of the turning output in the hydraulic power composite spinning mode, in which the ordinate indicates the turning output and the abscissa indicates the manipulated variable of the turning lever 72. Fig. As shown in Fig. 9, the turning output is the sum of the output of the turning hydraulic motor 27 and the output of the turning electric motor 25. This output characteristic is set in advance in the hydraulic power transmission compound turning control block 83 of the controller 80. [

10 is a characteristic of the turning output in the electric single-hand turning mode, and is set in advance in the electric single-turning control block 84 of the controller 80. Fig. As shown in Figs. 9 and 10, in the electric single-swivel mode, the turning output equivalent to the hydraulic-power composite rotary is handled solely as the swivel electric motor 25 at the time of fine manipulation of the swivel lever 72. [ The output of the swivel electric motor 25 is restricted so as not to exceed the limit output of the swivel electric motor 25 in the vicinity of the maximum operation amount of the swivel lever 72. [

In the present invention, the operation of switching to the electric single-turn rotation assumes a work in which the turning control property becomes more important than the turning speed and the turning force. In such an operation, a large turning force is not required even in the vicinity of the maximum operation amount of the turning lever 72. In particular, in the crane operation mode, it is dangerous if a rapid acceleration occurs. Therefore, it is preferable to restrict the turning output when the turning lever 72 is near the maximum operation amount.

According to the fourth embodiment of the hybrid type construction machine of the present invention described above, the same effects as those of the first embodiment described above can be obtained.

According to the fourth embodiment of the hybrid type construction machine of the present invention described above, the same operability as that of the hydraulic power transmission compound turning can be realized during fine operation in the electric single swivel, The speed of the turn can be limited. Thus, the output of the swing motor can be small, so that it is not necessary to increase the output of the electric motor 25 even when the motor-only swing system is adopted. As a result, there is no need to increase the capacity of the harness, the control device, the battery, or the like due to the high output of the electric motor, thereby preventing a significant increase in cost.

10:
11: Crawler
12: Crawler frame
13: Hydraulic motor for running
14: Hydraulic motor for traveling
20:
21: Turning frame
22: engine
23: assist power generation motor
24: Capacitor
25: Turning electric motor
26: Deceleration mechanism
27: Swivel hydraulic motor
30: Front working device
31: Boom
32: Boom cylinder
33: arm
34: arm cylinder
35: Bucket
36: Bucket cylinder
40: Hydraulic system
41: Hydraulic pump
42: Control valve
51: Chopper
52: Inverter for rotating electric motor
53: Inverter for assist power generation motor
54: Smoothing capacitor
55: Power control unit
72: Pivoting operation lever (pilot valve)
74a, b: a hydraulic / electric signal conversion device
74c, d: Hydraulic / electric signal conversion device (pressure sensor)
75: Electric / hydraulic signal conversion device
77: Operation mode changeover switch (work mode switching section)
80: Controller (control device)
83: Hydraulic power composite compound turning control block
84: Electric single-turn control block (electric single-turn control block)
85: Control switching block
92: Spool for turning
93a, b: Variable overload relief valve for pivoting
94a, b: check valve
95a, b: Solenoid valve for relief
96a, b: Solenoid valve for turning pilot pressure cut
100: Hook
101: Crane mode external indicator
102: Level
103: arm angle sensor
104: Boom angle sensor
110: crane changeover switch
111: Crane mode control

Claims (5)

An electric power steering apparatus comprising: an engine; a hydraulic pump driven by the engine; a swing body; an electric motor for driving the swing body; a hydraulic motor for driving the swing body driven by the hydraulic pump; 1. A hybrid type construction machine for pivoting a hybrid drive of a motor and a hydraulic motor,
A work mode switching section capable of switching an operation mode by an operator in accordance with the type of work; and a controller having a motor-only swing control section for swinging the swing body by the electric motor alone,
The controller automatically switches the swivel drive system of the swivel body to the swivel drive system by the electric single swivel control unit when the operation mode switching unit selects the operation mode requiring the positioning accuracy As a hybrid type construction machine. The method according to claim 1,
Characterized in that the controller switches automatically the swivel drive system of the swivel body to the swivel drive system by the electric single swivel control unit when the crane mode is selected by the operation mode switching unit . The method according to claim 1,
Wherein the controller is capable of setting whether or not to use the electric single-turn-turning control unit for each operation mode. 4. The method according to any one of claims 1 to 3,
A swing operation lever device for instructing driving of the swing body;
And an operation amount detecting section for detecting an operation amount of the pivoting operation lever device,
Wherein the motor-operated single-swing control section of the controller introduces an operation amount of the swing operation lever device detected by the manipulated variable detecting section, and when the swing operation amount is in the minute area, Wherein the output of the electric motor is controlled by setting the output as the target value and setting the output that does not exceed the limit output of the electric motor as the target value when the manipulated variable is the maximum value. delete

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